paparazzi/paparazzi — pull request #546 by dewagter (2013-09-26 07:51:07+00:00)
Title: New guidance max bank attempt

- Split PD and I-gain with separate max bank
- no wind: integrator (trim attitude) = 0, PD maxbank = -20 to 20 extra: total: -20 to 20
- huge wind: integrator (trim attitude) = 20, PD maxbank = -20 to 20 extra: total: 0 to 40
- Put gain before integrator to get better insight in the saturation values
- Reduce integration overshoots while increasing integration speed by adding the speed error as well
- no speed error: integrate as before
- counterproductive speed error, integrate faster
- if the position error is already decreasing fast, no integrator is needed or it will overshoot

Not yet test-flown: posted to get feedback / test-volonteers